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对于运动节点(如飞行体)而言,相对运动导致基于差分双向测距协议(DTWR)的测距结果存在较大误差,进而影响相对定位的精度.为了消除相对运动对DTWR性能的影响,首先对飞行体间基于差分双向测距协议的测距误差进行分析和建模,然后建立测距的有偏误差与两飞行体相对坐标间的约束关系,利用拉格朗日乘子法和泰勒级数法获取飞行体间相对坐标的最小二乘估计.该方法扩展了DTWR的应用范围,实现了飞行体间的精确相对定位.仿真表明,提出的定位算法具有较高的精度和稳定性.
For motion nodes such as airplanes, the relative motion results in large errors in the ranging results based on the DTWR, thereby affecting the accuracy of relative positioning.In order to eliminate the influence of relative motion on DTWR performance, firstly, This paper analyzes and models the ranging error based on the differential two-way ranging protocol between the flying objects, and then establishes the constraint relationship between the biased error of the ranging and the relative coordinates of the two flying objects. By using Lagrange multiplier method and Taylor class The least squares estimation of the relative coordinates of the flying object is obtained by the number method.The method expands the application scope of the DTWR and realizes the accurate relative positioning between the flying objects.The simulation results show that the proposed positioning algorithm has higher accuracy and stability.